CN102941302A - Forging manipulator capable of optimizing and improving driving - Google Patents
Forging manipulator capable of optimizing and improving driving Download PDFInfo
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- CN102941302A CN102941302A CN201210420737XA CN201210420737A CN102941302A CN 102941302 A CN102941302 A CN 102941302A CN 201210420737X A CN201210420737X A CN 201210420737XA CN 201210420737 A CN201210420737 A CN 201210420737A CN 102941302 A CN102941302 A CN 102941302A
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Abstract
A forging manipulator capable of optimizing and improving driving is characterized in that a front lifting arm and a rear lifting arm are hinged with a large vehicle frame, a front suspension rod is hinged with the front lifting arm and a front left and right linear actuator, a synchronous connection rod is hinged with the front lifting arm and the rear lifting arm, a lifting linear actuator is hinged with the synchronous connection rod and the large vehicle frame, a forward and backward linear actuator is hinged with the front suspension rod and the large vehicle frame, a front connection piece is hinged with the front left and right linear actuator and a nipping lever, a rear connection piece is hinged with a rear left and right linear actuator and the nipping lever, a pitching linear actuator is hinged with the rear lifting arm and the rear left and right linear actuator, a clamp is hinged with the nipping lever, and the large vehicle frame is hinged with a large vehicle chassis. According to the forging manipulator capable of optimizing and improving driving, the lifting device is optimized, the energy loss in the lifting process is reduced, and the parts are connected by lower pairs, so that the machining, manufacturing and maintaining costs are lowered.
Description
Technical fieldThe present invention relates to a kind of forging manipulator.
Background technologyForging manipulator is one of basic tool of large-sized forging pressure processing, is a capital equipment realizing forging and pressing production mechanization, automation, is used with forging press.Present forging manipulator has steel wire hang formula, multi-bar linkage combined type etc.Steel wire hang formula forging manipulator operational capacity is less, is used for small-sized forging, and multi-bar linkage combined type forging manipulator operational capacity is large, is used for large-sized forging.Find through the retrieval to existing forging operation machine technology, publication number is that the Chinese patent of CN 101879571 A discloses a kind of forging manipulator lifting mechanism with inclined rear suspension rods, this manipulator hoisting mechanism rear-mounted partly links to each other with the claw beam rear portion with the synchronising (connecting) rod that two inclinations are arranged symmetrically with, although weakened single hanger bar and connected the stressed of hinge, but this manipulator synchronising (connecting) rod is to link to each other with the claw beam rear portion with ball pivot equally, weakened the integrated carrying ability of this type of manipulator, and two linear actuators place the front lift arm lower end, by long synchronising (connecting) rod lifting force is delivered to rear lift arm during motion, its lifting force is weakened, the lifter motion poor effect.At present, also there are some forging manipulators to adopt lower pair to connect, all adopt lower pair to connect such as each junction of DYH series forging manipulator, but can not satisfy the forging requirement of comprehensive six degree of freedom; And there was constraint in some mechanism, made its processing and assembling comparatively difficult.
Summary of the inventionThe object of the present invention is to provide and a kind ofly can reduce energy loss, have optimizing of six-freedom degree and promote the forging manipulator that drives.The present invention mainly comprises cart rotation and mobile device, clamp rotating device, lifting device, elevation mount, front and back buffer unit and left and right sides buffer unit.
Wherein, cart rotation and mobile device comprise: large chassis, large vehicle carriage and travel mechanism, and its travel mechanism can be that moving sets also can be that wheel is installed on the large chassis, large chassis is connected with the cart bottom of frame by hinge.
Described clamp rotating device comprises: claw beam and clamp, and the clamp rear end links to each other with the claw beam front end by hinge, and the forward and backward two ends of claw beam place respectively in the centre bore of forward and backward connector and connect firmly.
Described lifting device comprises: front connector, front lift arm, rear lift arm, a pair of front overhang peg, a pair of synchronising (connecting) rod and a pair of lifting linear actuator.The both sides of front connector connect firmly the end at a pair of front left and right linear actuator, this a pair of front left and right linear actuator and a pair of front overhang peg one end are hinged, this a pair of front overhang peg other end links to each other with front lift arm one end by hinge, one position of this front lift arm is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned front lift arm links to each other with an end of a pair of synchronising (connecting) rod by hinge, one position of this a pair of synchronising (connecting) rod links to each other with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned a pair of synchronising (connecting) rod links to each other with an end of rear lift arm by hinge, should be connected through the hinge on large vehicle carriage two side at rear lift arm one position, the other end of above-mentioned rear lift arm links to each other with an end of a pair of pitching linear actuator by hinge, the other end of this a pair of pitching linear actuator and a pair of rear left and right sides linear actuator are hinged, and an end of this a pair of rear left and right sides linear actuator connects firmly the both sides at rear connectors.
Described elevation mount comprises: the hinged pitching linear actuator of above-mentioned a pair of and rear left and right sides linear actuator.
Described front and back buffer unit comprises: a pair of front and back linear actuator, and an end of this a pair of front and back linear actuator links to each other with a position of above-mentioned front overhang peg by hinge, and its other end is connected through the hinge on large vehicle carriage two side.
Described left and right sides buffer unit comprises: the front left and right linear actuator that above-mentioned a pair of and front connector both sides connect firmly and rear left and right sides linear actuator a pair of and that the rear connectors both sides connect firmly.
Above-mentioned a pair of lifting linear actuator, a pair of pitching linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of front left and right linear actuator and the equal left-right symmetry of a pair of rear left and right sides linear actuator are installed on the large vehicle carriage.
Each motion of forging manipulator is driven by each device and finishes.The elevating movement process: a pair of lifting linear actuator promotes synchronising (connecting) rod, the pitching linear actuator of drive front lift arm, a pair of front overhang peg, front connector, rear lift arm, a pair of maintenance fixed length and rear connectors are done up and down and are synchronized with the movement, move up and down thereby drive claw beam, and then the drive clamp moves up and down.Process seesaws: directly drive cart by travel mechanism first, drive forging manipulator integral body is done and is seesawed, when forging manipulator clamp during near processing work, promote a pair of front overhang peg by a pair of front and back linear actuator again, drive a pair of front left and right linear actuator, front connector do before and after back and forth movement, and then drive clamp and do and seesaw.Elevating movement process: left and right sides linear actuator after a pair of pitching linear actuator promotes, the claw beam rear end that drive connects firmly with it is done and is faced upward up and down the motion of bowing, and the hinge axes position that the front left and right linear drives links to each other with the front overhang peg remains unchanged, and does elevating movement thereby drive clamp.The transverse motion process: a pair of front left and right linear actuator, a pair of rear left and right sides linear actuator drive front connector and rear connectors in the same way, drive claw beam and clamp and do transverse movement.Clamp rotation process: it is rotated by driving the clamp rear end around the rear end hinge axes.Oscillating motion process: by driving the cart bottom of frame it is rotated around the bottom hinge axis, drive the forging manipulator Integral swinging, realize the stable oscillating motion of clamp.
The present invention compared with prior art has following advantage:
1, the lifting linear actuator directly drives synchronising (connecting) rod among the present invention, has reduced the transmission moving link number from the driver to the clamp, thereby has reduced the energy loss in the motion transmittance process, has improved the mechanical efficiency of manipulator.
2, connecting portion all uses lower pair among the present invention, has avoided using the higher pair such as ball pivot and the bearing capacity that causes is poor, has reduced processing and manufacturing cost.
3, clamp of the present invention has six-freedom degree, but clamping is forged under various orientation and various attitude flexibly by the forger part.
4, there was not restraint condition in the whole mechanism of the present invention, was convenient to installation, current check and maintenance.
Description of drawings:
Fig. 1 is that the master of the embodiment of the invention looks simplified schematic diagram.
Fig. 2 is the inner three-dimensional simplified schematic diagram of large vehicle carriage among Fig. 1.
Among the figure: connector, 16-rear connectors before left and right sides linear actuator, the 15-behind linear actuator, 10-front overhang peg, 11-synchronising (connecting) rod, 12-clamp, 13-front left and right linear actuator, the 14-before and after lift arm behind the large vehicle carriage of 1-, the large chassis of 2-, 3-wheel, 4-claw beam, 5-front lift arm, the 6-, 7-lifting linear actuator, 8-pitching linear actuator, the 9-.
The specific embodiment:
A kind of can optimization in the simplified schematic diagram that promotes the forging manipulator that drives illustrated in figures 1 and 2, large vehicle carriage 1 bottom is connected with large chassis 2 by hinge, and wheel 3 symmetries are installed in the bottom of large chassis 2.Clamp 12 rear ends link to each other with claw beam 4 front ends by hinge, the front end of claw beam 4 places respectively in the centre bore of front connector 15 and connects firmly, the both sides of connector 15 and an end of a pair of front left and right linear actuator 13 connect firmly before being somebody's turn to do, this front left and right linear actuator 13 is hinged with an end of a pair of front overhang peg 10, one position of this front overhang peg 10 links to each other by the end of hinge with a pair of front and back linear actuator 9, the other end of this front and back linear actuator 9 is connected on large vehicle carriage 1 two side by hinge C, the other end of this front overhang peg 10 links to each other with an end of front lift arm 5 by hinge, one position of this front lift arm 5 is connected on large vehicle carriage 1 two side by hinge A, the other end of above-mentioned front lift arm 5 links to each other with an end of a pair of synchronising (connecting) rod 11 by hinge, the other end of this synchronising (connecting) rod 11 links to each other with an end of rear lift arm 6 by hinge, a position of lift arm 6 is connected on large vehicle carriage 1 two side by hinge B after being somebody's turn to do, one position of above-mentioned synchronising (connecting) rod 11 links to each other with an end of a pair of lifting linear actuator 7 by hinge, the other end of this a pair of lifting linear actuator 7 is connected on large vehicle carriage 1 two side by hinge D, another position of above-mentioned rear lift arm 6 links to each other with an end of a pair of pitching linear actuator 8 by hinge, the other end of this a pair of pitching linear actuator 8 and a pair of rear left and right sides linear actuator 14 are hinged, one end of this a pair of rear left and right sides linear actuator 14 and the both sides of rear connectors 16 connect firmly, and the centre bore of this rear connectors 16 connects firmly in the rear end of above-mentioned claw beam 4 and connects firmly.Described a pair of lifting linear actuator, a pair of pitching linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of front left and right linear actuator and a pair of rear left and right sides linear actuator, equal symmetrical mounting arrangements is on large vehicle carriage.
Claims (2)
1. an energy optimization promotes the forging manipulator that drives, and comprises cart rotation and mobile device, clamp rotating device, lifting device, elevation mount, front and back buffer unit and left and right sides buffer unit; It is characterized in that: the cart bottom of frame links to each other with large chassis by hinge, travel mechanism installs on the large chassis, the clamp rear end links to each other with the claw beam front end by hinge, before the claw beam, before rear two ends place respectively, in the centre bore of rear connectors and connect firmly, the both sides of connector and an end of a pair of front left and right linear actuator connect firmly before being somebody's turn to do, one end of this a pair of front left and right linear actuator and a pair of front overhang peg is hinged, one position of this a pair of front overhang peg is connected by the end of hinge with a pair of front and back linear actuator, the other end of this a pair of front and back linear actuator is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned a pair of front overhang peg is connected with an end of front lift arm by hinge, one position of this front lift arm is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned front lift arm links to each other with an end of a pair of synchronising (connecting) rod by hinge, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm by hinge, a position of lift arm is connected through the hinge on large vehicle carriage two side after being somebody's turn to do, one position of above-mentioned a pair of synchronising (connecting) rod links to each other with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator is connected through the hinge on large vehicle carriage two side, another position of above-mentioned rear lift arm is connected with an end of a pair of pitching linear actuator by hinge, the other end of this a pair of pitching linear actuator and a pair of rear left and right sides linear actuator are hinged, and the both sides of this a pair of rear left and right sides linear actuator one end and rear connectors connect firmly.
2. a kind of optimization according to claim 1 promotes the forging manipulator that drives, it is characterized in that described a pair of lifting linear actuator, a pair of pitching linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of front left and right linear actuator and the equal symmetrical mounting arrangements of a pair of rear left and right sides linear actuator are on large vehicle carriage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210420737.XA CN102941302B (en) | 2012-10-30 | 2012-10-30 | Forging manipulator capable of optimizing and improving driving |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210420737.XA CN102941302B (en) | 2012-10-30 | 2012-10-30 | Forging manipulator capable of optimizing and improving driving |
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| Publication Number | Publication Date |
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| CN102941302A true CN102941302A (en) | 2013-02-27 |
| CN102941302B CN102941302B (en) | 2014-09-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210420737.XA Expired - Fee Related CN102941302B (en) | 2012-10-30 | 2012-10-30 | Forging manipulator capable of optimizing and improving driving |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103706748A (en) * | 2013-09-23 | 2014-04-09 | 燕山大学 | Lifting mechanism of asymmetric-type forging operator of prostrate linear actuator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3498490A (en) * | 1967-04-15 | 1970-03-03 | Schloemann Ag | Manipulators |
| US4815311A (en) * | 1986-07-31 | 1989-03-28 | Sms Hasenclever Maschinenfabrik Gmbh | Forging manipulator |
| DE10128451B4 (en) * | 2001-05-17 | 2005-02-03 | Dango & Dienenthal Maschinenbau Gmbh | forging manipulator |
| CN201192720Y (en) * | 2008-04-24 | 2009-02-11 | 张立新 | Non-axle forging manipulator |
| CN102019340A (en) * | 2010-11-15 | 2011-04-20 | 沈阳重型机械集团有限责任公司 | Claw beam lifting mechanism for forging manipulator |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN202894187U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator capable of optimizing and lifting drive |
-
2012
- 2012-10-30 CN CN201210420737.XA patent/CN102941302B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3498490A (en) * | 1967-04-15 | 1970-03-03 | Schloemann Ag | Manipulators |
| US4815311A (en) * | 1986-07-31 | 1989-03-28 | Sms Hasenclever Maschinenfabrik Gmbh | Forging manipulator |
| DE10128451B4 (en) * | 2001-05-17 | 2005-02-03 | Dango & Dienenthal Maschinenbau Gmbh | forging manipulator |
| CN201192720Y (en) * | 2008-04-24 | 2009-02-11 | 张立新 | Non-axle forging manipulator |
| CN102019340A (en) * | 2010-11-15 | 2011-04-20 | 沈阳重型机械集团有限责任公司 | Claw beam lifting mechanism for forging manipulator |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN202894187U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator capable of optimizing and lifting drive |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103706748A (en) * | 2013-09-23 | 2014-04-09 | 燕山大学 | Lifting mechanism of asymmetric-type forging operator of prostrate linear actuator |
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| CN102941302B (en) | 2014-09-10 |
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